This course focuses on how to control a robot system. The basic of robot control is in motor position/force control, and design of motor reference requires kinematics and dynamics. The topics of this course include motor PD control, forward/inverse kinematics, statics, forward/inverse dynamics and compliance control, which are illustrated mathematically and dynamically.
By the end of this course, students will be able to:
(1) Design a PD controller that satisfies the stability of the closed loop system
(2) Implement PD control algorism into PC control of a motor system
(3) Design a motor reference for a given trajectory of the end effector
(4) Design a motor torque that yields appropriate force in the end effector
(5) Design a compliance controller.
PD control, Forward/Inverse kinematics, Statics, Forward/Inverse dynamics, Conpliance control
|Intercultural skills||Communication skills||Specialist skills||Critical thinking skills||Practical and/or problem-solving skills|
This course is mainly organized lectures. Since each lecture requires the knowledge of the previous lecture, the students have to well review the previous lessons.
|Course schedule||Required learning|
|Class 1||Classical control theory and motor control||PD control, Final-value theorem, Nyquist stability criterion|
|Class 2||Implementation of motor control into PC system||Discrete time system, Pseudo-differential|
|Class 3||Kinematics||Forward/Inverse kinematics|
|Class 4||Kinematics of closed kinematic chain||Closed kinematic chain, Constraint|
|Class 5||Statics||Statics, Virtual work principal|
|Class 6||Compliance control||Compliance ellipsoid, Compliance control|
|Class 7||Generalized coordinates and dynamics||Degree of freedom, generalized coordinates|
|Class 8||Application of robot control||Robot control|
Masafumi Okada, Basic and Application of System Control (Japanese)